Dexterous hand for grabbing irregular objects
By introducing a rotation adjustment unit, a bending adjustment unit and an adsorption mechanism into the dexterous hands, the problem of difficulty in grasping irregular objects is solved, and the stable and flexible grasping of irregular objects by the dexterous hands is achieved.
Patent Information
- Application Number
- CN202411506471.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-01-03
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing skilled hands are difficult to grasp irregularly shaped objects, especially soft objects, which can easily cause damage and require external tools to cooperate, which cannot effectively solve the problem.
A clever hand including a rotation adjustment unit and a bending adjustment unit is designed. The thumb position is adjusted through the rotation adjustment unit, the bending adjustment unit adjusts the bending degree of the finger, and combines the adsorption mechanism to enhance stability to achieve the grasping of irregular objects.
It effectively avoids the difficulty of grasping caused by the inability to adjust the finger posture of a clever hand, and can stably grasp irregular and soft objects, improving the flexibility and stability of grasping.
Smart Images
Figure CN119238584A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of soft robots, in particular to a dexterous hand for grasping irregular objects. Background Art
[0002] Soft robots are a new type of robotic technology. They are usually made of soft materials and have flexibility and adaptability similar to that of biological organisms. These robots can work in complex and unstructured environments and interact with humans more safely. Some actuators are installed at the end of these soft robots. These actuators can be called dexterous hands. When working, the dexterous hands can grasp some objects of regular shapes.
[0003] At present, the existing dexterous hands can only grasp some regularly shaped objects when working, and are not suitable for grasping irregularly shaped objects. In particular, when grasping some soft and irregular objects, the dexterous hands can easily cause damage to the soft objects. Therefore, the existing dexterous hands have high limitations when in use.
[0004] Combining the above problems, we will find that it is difficult to avoid the above problems at the same time when using the existing dexterous hands on the market, and even if they can be solved, they need to be solved with the cooperation of external tools, which makes it impossible to achieve the desired effect. Therefore, we propose a dexterous hand for grasping irregular objects. Summary of the invention
[0005] The purpose of the present invention is to provide a dexterous hand for grasping irregular objects to solve the problems raised in the above background technology.
[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a dexterous hand for grasping irregular objects, comprising a mounting bracket, an adjustment mechanism is arranged on the outer side of the mounting bracket, and an adsorption mechanism is arranged on the outer side of the mounting bracket;
[0007] The adjustment mechanism includes a rotation adjustment unit, which is arranged on the outside of the mounting bracket, and the rotation adjustment unit facilitates rotation adjustment of the position of the thumb;
[0008] The adjustment mechanism further includes a bending adjustment unit, which is disposed above the mounting bracket and is used in conjunction with the rotation adjustment unit. The bending adjustment unit facilitates adjustment of the bending state of the four fingers.
[0009] The adsorption mechanism is arranged on the right side of the mounting bracket, and is used in conjunction with the adjustment mechanism. The adsorption mechanism can enhance the stability of the device when picking up irregular objects.
[0010] Preferably, the rotation adjustment unit includes a fixing plate, the fixing plate is fixedly connected to the inner wall of the mounting bracket, the inner wall of the fixing plate is fixedly connected to a reduction motor, the output end of the reduction motor is fixedly connected to a transmission shaft, the outer surface of the transmission shaft is rotatably connected to the inner wall of the mounting bracket, the outer surface of the transmission shaft is fixedly connected to a transmission block, the outer surface of the transmission block is slidably connected to the inside of the mounting bracket, the outer surface of the transmission block is fixedly connected to a rectangular shell, three first bending joints, three first linear electric cylinders and three first fixed frames are respectively arranged above the rectangular shell, the inner wall of each of the first bending joints is fixedly connected to a first support frame, the telescopic end of each of the first linear electric cylinders passes through the inside of the first fixed frame, and the bottom surfaces of two of the first linear electric cylinders are fixedly connected to The upper surfaces of two of the first support frames and the bottom surface of another first linear electric cylinder are fixedly connected to the inner bottom wall of the rectangular shell, the inner wall of each of the first bending joints is fixedly connected with a first reset shaft, the outer surface of each of the first reset shaft is rotatably connected to the inner wall of the first fixed frame, the inner wall of each of the first fixed frames is fixedly connected with a first reset spring, the end of each of the first reset springs close to the first reset shaft is fixedly connected with a first connecting plate, the back of each of the first connecting plates is fixedly connected with a first reset steel wire, the outer surface of each of the first reset steel wires is fixedly connected to the outer surface of the first reset shaft, the outer surface of each of the first reset shaft is fixedly connected with a first traction steel wire, and the bottom end of each of the first traction steel wires is fixedly connected to the telescopic end of the first linear electric cylinder.
[0011] Preferably, the bending adjustment unit comprises six groups of second bending joints, six groups of second fixed frames and six groups of second linear electric cylinders, each group of second bending joints, each group of second fixed frames and each group of second linear electric cylinders are two in number, the inner wall of each second bending joint is fixedly connected to the second support frame, the inner wall of each second bending joint is fixedly connected to the second reset shaft, the outer surface of each second reset shaft is rotatably connected to the inner wall of the second fixed frame, the inner wall of each second fixed frame is fixedly connected to the second reset spring, the left end of each second reset spring is fixedly connected to the second connecting plate, the left side of each second connecting plate is fixedly connected to the second reset steel wire, the left end of each second reset steel wire is fixedly connected to the outer surface of the second reset shaft, the outer surface of each second reset shaft is fixedly connected to the second traction steel wire, the bottom end of each second traction steel wire is fixedly connected to the telescopic end of the second linear electric cylinder, the bottom surfaces of four groups of the second linear electric cylinders are fixedly connected to the upper surfaces of four groups of the second support frames, and the bottom surfaces of the other two groups of the second linear electric cylinders are fixedly connected to the upper surfaces of the second support frames. A support plate is fixedly connected to the bottom surface, the outer surface of the support plate is fixedly connected to the inner wall of the mounting bracket, the inner wall of the mounting bracket is fixedly connected to a filter screen, the telescopic end of each group of the second linear electric cylinders penetrates into the interior of the second fixed frame, a connecting ring is arranged below the mounting bracket, a moving block is slidably connected inside the connecting ring, the inner wall of the moving block is rotatably connected to a rotating shaft, the top of the rotating shaft is fixedly connected to the bottom surface of the mounting bracket, a stepper motor is arranged inside the connecting ring, a gear is fixedly connected to the outer surface of the output end of the stepper motor, a magnetic coupling is fixedly connected to the outer surface of the output end of the stepper motor and the outer surface of the rotating shaft, a fixed block is fixedly connected to the outer surface of the stepper motor, the inner wall of the fixed block and the inner wall of the moving block are fixedly connected to two circular shafts, four rollers are rotatably connected to the inner wall of the fixed block, two bearing plates are fixedly connected to the inner wall of the connecting ring, the upper surface of each bearing plate is in contact with the outer surface of the roller, a tooth plate is fixedly connected to the left side of one of the bearing plates, and the teeth of the tooth plate are meshed with the teeth of the gear.
[0012] Preferably, an annular flange is fixedly connected to the outer surface of the connecting ring, and two bolts are threadedly connected to the inner wall of the annular flange.
[0013] Preferably, the adsorption mechanism comprises a rectangular box, the left side surface of the rectangular box is fixedly connected to the right side surface of the mounting bracket, an air pump is arranged inside the rectangular box, the output end of the air pump is fixedly connected to an output pipe, the input end of the air pump is fixedly connected to an input pipe, the inner wall of the rectangular box is fixedly connected to a partition plate, the outer surface of the input pipe is fixedly connected to the inner wall of the partition plate, the inner wall of the partition plate is fixedly connected to a telescopic tube, the right end of the delivery tube is in contact with the left end of the telescopic tube, the inner wall of the rectangular box is rotatably connected to a long axis, the outer surface of the long axis is fixedly connected to a limiting cylinder, the outer surface of the limiting cylinder is in contact with the outer surface of the telescopic tube, Three third return springs are fixedly connected to the inner wall of the rectangular box, and one end of the telescopic tube close to each of the third return springs is fixedly connected to a rectangular plate, the outer surface of each of the rectangular plates is slidably connected to the inside of the rectangular box, and each of the rectangular plates is fixedly connected to two mounting plates on a side close to the telescopic tube, and the inner walls of each two mounting plates are rotatably connected to a rotating shaft, the outer surface of each rotating shaft is fixedly connected to a rotating cylinder, and the outer surface of each rotating cylinder is in contact with the outer surface of the telescopic tube, and the end of the telescopic tube away from the air pump is fixedly connected to an exhaust pipe, and the left end of the exhaust pipe is fixedly connected to the right side of the top first bending joint.
[0014] Preferably, the inner wall of the rectangular box is fixedly connected to a support frame, the inner wall of the support frame is fixedly connected to a controller, the upper surface of the support frame is fixedly connected to a fixing seat, and the inner wall of the fixing seat is fixedly connected to the outer surface of the air pump.
[0015] Preferably, two sliding grooves are provided on the right side of the support frame, each of the sliding grooves is slidably connected to a sliding block, and the side surfaces of the two sliding blocks close to each other are commonly fixedly connected to a dust removal frame, and the interior of the output tube is connected to the interior of the dust removal frame.
[0016] Preferably, two card slots are provided on the right side surface of the support frame, a card block is carded inside each of the card slots, and a baffle is fixedly connected to the right ends of the two card blocks.
[0017] Preferably, the right side of the rectangular box is fixedly connected to a limiting plate, a long plate is clamped inside the limiting plate, a short shaft is rotatably connected to the inner wall of the rectangular box, and the right end of the short shaft is fixedly connected to the left side of the long plate.
[0018] Preferably, two groups of limit blocks are fixedly connected to the back of the rectangular box, the inner wall of each group of limit blocks is rotatably connected to a limit shaft, and the outer surface of each limit shaft is in contact with the outer surface of the exhaust pipe.
[0019] Compared with the prior art, the present invention has the following beneficial effects:
[0020] 1. The present invention is provided with a rotation adjustment unit, which can be used to adjust the direction of the thumb to make it correspond to the other four fingers, so that a picking action can be performed, effectively avoiding the problem that the dexterous hand cannot adjust the posture of the fingers when the device is in use, resulting in the inability to pick up irregularly shaped objects.
[0021] 2. The present invention is provided with a bending adjustment unit, which can be used to adjust the curvature of four fingers. The bending adjustment unit cooperates with the rotation adjustment unit to enable the device to pick up some irregular and relatively soft objects.
[0022] 3. The present invention provides an adsorption mechanism, which can provide suction to the object being picked up to make it more stable. By providing a rotation adjustment unit, a bending adjustment unit and an adsorption mechanism, it can avoid the problem that the posture of the dexterous hand cannot be adjusted when it is in use, thereby preventing the problem of being unable to pick up irregular objects. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;
[0024] Figure 2 It is a schematic structural diagram of the second linear electric cylinder of the present invention;
[0025] Figure 3 For the present invention Figure 2 A partial enlarged view of the middle A;
[0026] Figure 4 It is a structural schematic diagram of the reduction motor of the present invention;
[0027] Figure 5 It is a structural schematic diagram of the first linear electric cylinder of the present invention;
[0028] Figure 6 For the present invention Figure 5 A partial enlarged view of point B in the middle;
[0029] Figure 7 It is a right side structural schematic diagram of the rectangular box of the present invention;
[0030] Figure 8 It is a right side structural schematic diagram of the short shaft of the present invention;
[0031] Fig. 9 It is a right side structural schematic diagram of the air pump of the present invention;
[0032] Fig.10 For the present invention Fig. 9 A partial enlarged view of point C in the middle;
[0033] Fig.11It is a right view structural schematic diagram of the controller of the present invention;
[0034] Fig.12 It is a right side structural schematic diagram of the telescopic tube of the present invention;
[0035] Fig.13 It is a structural schematic diagram of the stepping motor of the present invention.
[0036] In the figure: 1, mounting bracket; 2, adjustment mechanism; 21, rotation adjustment unit; 2101, first bending joint; 2102, transmission block; 2103, reduction motor; 2104, transmission shaft; 2105, fixing plate; 2106, first fixing frame; 2107, rectangular shell; 2108, first linear electric cylinder; 2109, first support frame; 2110, first return spring; 2111, first connecting plate; 2112, first return wire; 2113, first return shaft; 2114, first traction wire; 22, bending adjustment unit; 2201, second fixing frame; 2202, second bending joint; 2203, second support frame; 2204, second return spring; 2205, second connecting plate; 2206, second linear electric cylinder; 2207, second return wire; 2208, second return shaft; 2209, second traction wire; 2210, supporting plate; 2211, filter screen; 2212, connecting ring; 2213, annular flange ; 2214, bolt; 2215, rotating shaft; 2216, moving block; 2217, magnetic coupling; 2218, circular shaft; 2219, stepping motor; 2220, fixed block; 2221, roller; 2222, tooth plate; 2223, gear; 2224, bearing plate; 3, adsorption mechanism; 301, rectangular box; 302, exhaust pipe; 303, limit plate; 304, long plate; 305, short shaft; 306, baffle; 307, output pipe; 308, Air pump; 309, input pipe; 310, support frame; 311, partition plate; 312, slot; 313, dust removal frame; 314, sliding slot; 315, block; 316, sliding block; 317, fixed seat; 318, limit shaft; 319, limit block; 320, third return spring; 321, limit cylinder; 322, long axis; 323, rectangular plate; 324, mounting plate; 325, telescopic tube; 326, rotating cylinder; 327, rotating shaft; 328, controller. DETAILED DESCRIPTION
[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0038] Example 1: Please refer to Figure 1 , Figure 4-Figure 7 , the present invention provides a technical solution: a dexterous hand for grasping irregular objects, comprising a mounting bracket 1, an adjusting mechanism 2 is arranged on the outer side of the mounting bracket 1, and an adsorption mechanism 3 is arranged on the outer side of the mounting bracket 1;
[0039] The adjustment mechanism 2 includes a rotation adjustment unit 21 , which is disposed on the outside of the mounting bracket 1 . The rotation adjustment unit 21 facilitates rotation adjustment of the position of the thumb.
[0040] As a further limitation of the adjustment mechanism 2 of the present invention, the rotation adjustment unit 21 includes a fixed plate 2105, the fixed plate 2105 is fixedly connected to the inner wall of the mounting bracket 1, the inner wall of the fixed plate 2105 is fixedly connected to the reduction motor 2103, the output end of the reduction motor 2103 is fixedly connected to the transmission shaft 2104, the outer surface of the transmission shaft 2104 is rotatably connected to the inner wall of the mounting bracket 1, the outer surface of the transmission shaft 2104 is fixedly connected to the transmission block 2102, the outer surface of the transmission block 2102 is slidably connected to the inside of the mounting bracket 1, and the outer surface of the transmission block 2102 is fixedly connected There is a rectangular shell 2107, and three first bending joints 2101, three first linear electric cylinders 2108, and three first fixed frames 2106 are respectively arranged above the rectangular shell 2107. The inner wall of each first bending joint 2101 is fixedly connected to a first support frame 2109, and the telescopic end of each first linear electric cylinder 2108 penetrates into the interior of the first fixed frame 2106. The bottom surfaces of two first linear electric cylinders 2108 are fixedly connected to the upper surfaces of two first support frames 2109, and the bottom surface of another first linear electric cylinder 2108 is fixedly connected to the rectangular shell 2101. The inner bottom wall of the first bending joint 2101 is fixedly connected to the first reset shaft 2113, the outer surface of each first reset shaft 2113 is rotatably connected to the inner wall of the first fixing frame 2106, the inner wall of each first fixing frame 2106 is fixedly connected to the first reset spring 2110, the end of each first reset spring 2110 close to the first reset shaft 2113 is fixedly connected to the first connecting plate 2111, the back of each first connecting plate 2111 is fixedly connected to the first reset wire 2112, and the outer surface of each first reset wire 2112 is fixedly connected to the first reset wire 2112. Connected to the outer surface of the first reset shaft 2113, the outer surface of each first reset shaft 2113 is fixedly connected with a first traction wire 2114, and the bottom end of each first traction wire 2114 is fixedly connected to the telescopic end of the first linear electric cylinder 2108. A rotation adjustment unit 21 is provided. The rotation adjustment unit 21 can be used to adjust the direction of the thumb to correspond to the other four fingers, so that a picking action can be performed, effectively avoiding the problem that the dexterous hand cannot adjust the posture of the fingers when the device is in use, resulting in the inability to pick up objects of irregular shapes.
[0041] The specific implementation of this embodiment is as follows: first, when the device is needed, the annular flange 2213 and the bolts 2214 are used to connect the device to the robot arm, and the device can be put into operation after the power is turned on. When it is necessary to pick up irregular objects, the reduction motor 2103 can be controlled to operate first. When the reduction motor 2103 is working, it will drive the transmission shaft 2104 fixed to its output end to rotate, and when the transmission shaft 2104 rotates, it will drive the transmission block 2102 fixed on its outer surface and the rectangular shell 2107 to rotate, thereby adjusting the overall direction of the thumb, and then the three can be controlled. When the first linear electric cylinder 2108 at the bottom is running, it will pull the first traction wire 2114 fixed at its telescopic end to move downward, and because the other end of the first traction wire 2114 is fixed to the outer surface of the first reset shaft 2113, and the outer surface of the first traction wire 2114 is in contact with the outer surface of the first reset shaft 2113, the first traction wire 2114 will drive the first reset shaft 2113 to rotate during the downward pulling process, and during the rotation of the first reset shaft 2113, the first reset wire 2112 fixed on its outer surface will also be wrapped around the first reset shaft 2113. The first return spring 2110 is extended on a reset shaft 2113, thereby driving the first bending joint 2101 fixed on the outer surface of the first reset shaft 2113 to adjust the angle. It should be understood that only controlling the operation of the first linear electric cylinder 2108 at the bottom will only drive the first bending joint 2101 at the bottom to adjust the angle. The two first bending joints 2101 at the top will move and bend with the first bending joint 2101 at the bottom. Therefore, if you want to control the two first bending joints 2101 at the top while bending the first bending joint 2101 at the bottom, To adjust the angle, you only need to control the operation of the two first linear electric cylinders 2108 above, so as to achieve the angle adjustment of the three first bending joints 2101. When the angle adjustment is completed, when the first bending joint 2101 needs to be reset, you only need to control the first linear electric cylinder 2108 to reset. After the first linear electric cylinder 2108 stops running, the first traction wire 2114 will lose its tension. At this time, the first reset shaft 2113 is still subjected to the tension of the first reset spring 2110, so the first reset shaft 2113 will return to its original position under the action of the tension of the first reset spring 2110.
[0042] Example 2: Please refer to Figure 1-Figure 5 and Fig.13The present invention provides a technical solution: a dexterous hand for grasping irregular objects. The present invention makes corresponding improvements to the technical problems mentioned in the background technology. The adjustment mechanism 2 also includes a bending adjustment unit 22, which is arranged above the mounting bracket 1. The bending adjustment unit 22 is used in conjunction with the rotation adjustment unit 21. The bending adjustment unit 22 facilitates the adjustment of the bending state of the four fingers.
[0043] As a further limitation of the adjustment mechanism 2 of the present invention, the bending adjustment unit 22 includes six groups of second bending joints 2202, six groups of second fixed frames 2201 and six groups of second linear electric cylinders 2206, each group of second bending joints 2202, each group of second fixed frames 2201 and each group of second linear electric cylinders 2206 are two in number, the inner wall of each second bending joint 2202 is fixedly connected to the second support frame 2203, the inner wall of each second bending joint 2202 is fixedly connected to the second reset shaft 2208, the outer surface of each second reset shaft 2208 is rotatably connected to the inner wall of the second fixed frame 2201, the inner wall of each second fixed frame 2201 is fixedly connected to the second reset spring 2204, and each second reset spring The left end of the spring 2204 is fixedly connected to the second connecting plate 2205, the left side of each second connecting plate 2205 is fixedly connected to the second reset wire 2207, the left end of each second reset wire 2207 is fixedly connected to the outer surface of the second reset shaft 2208, the outer surface of each second reset shaft 2208 is fixedly connected to the second traction wire 2209, the bottom end of each second traction wire 2209 is fixedly connected to the telescopic end of the second linear electric cylinder 2206, the bottom surfaces of four groups of second linear electric cylinders 2206 are fixedly connected to the upper surfaces of four groups of second support frames 2203, the bottom surfaces of the other two groups of second linear electric cylinders 2206 are fixedly connected to the support plates 2210, the outer surfaces of the support plates 2210 are fixedly connected to the installation The inner wall of the mounting bracket 1 is fixedly connected with a filter screen 2211, the telescopic ends of each group of second linear electric cylinders 2206 penetrate into the interior of the second fixed frame 2201, a connecting ring 2212 is arranged below the mounting bracket 1, a moving block 2216 is slidably connected inside the connecting ring 2212, a rotating shaft 2215 is rotatably connected to the inner wall of the moving block 2216, the top of the rotating shaft 2215 is fixedly connected to the bottom surface of the mounting bracket 1, a stepper motor 2219 is arranged inside the connecting ring 2212, a gear 2223 is fixedly connected to the outer surface of the output end of the stepper motor 2219, a magnetic coupling 2217 is fixedly connected to the outer surface of the output end of the stepper motor 2219 and the outer surface of the rotating shaft 2215, and the stepper motor The outer surface of the machine 2219 is fixedly connected with a fixed block 2220, and the inner wall of the fixed block 2220 and the inner wall of the moving block 2216 are fixedly connected with two circular shafts 2218. The inner wall of the fixed block 2220 is rotatably connected with four rollers 2221. The inner wall of the connecting ring 2212 is fixedly connected with two bearing plates 2224. The upper surface of each bearing plate 2224 contacts the outer surface of the roller 2221. The left side of one of the bearing plates 2224 is fixedly connected with a tooth plate 2222. The teeth of the tooth plate 2222 mesh with the teeth of the gear 2223. A bending adjustment unit 22 is provided. The bending adjustment unit 22 can be used to adjust the curvature of the four fingers. The bending adjustment unit 22 cooperates with the rotation adjustment unit 21.The device can be used to pick up some irregular and relatively soft objects.
[0044] See also Figure 1 The outer surface of the connecting ring 2212 is fixedly connected to an annular flange 2213, and the inner wall of the annular flange 2213 is threadedly connected to two bolts 2214. By providing a filter 2211, dust can be prevented from entering the interior of the mounting bracket 1 during heat dissipation. The presence of the bolts 2214 and the annular flange 2213 makes it easy to install the device on a robotic arm.
[0045] The specific implementation of this embodiment is as follows: when the curvature of the other four fingers needs to be adjusted, the second linear electric cylinder 2206 of the corresponding fingers can be controlled to operate in the same manner. When the second linear electric cylinder 2206 is in operation, it will also drive the second traction wire 2209 fixed at its output end to move downward. Under the action of the second traction wire 2209, the second reset shaft 2208 can be driven to rotate, so that the curvature of the second bending joint 2202 can be adjusted, so that the second bending joint 2202 cooperates with the first bending joint 2101 to make an action similar to pinching of the thumb and the second thumb. In addition, when there are objects around the object to be picked up that are in contact with the object to be picked up, making it impossible for the dexterous hand to pick up the object, the second bending joint 2202 on the index finger can be controlled to move downward. 202 is attached to the surface of the surrounding objects and applies a certain pressure thereto, and then the stepper motor 2219 is controlled to operate, and the power generated by the stepper motor 2219 is used to drive the gear 2223 to rotate, and the gear 2223 will move under the action of the tooth plate 2222, thereby driving the stepper motor 2219 and the moving block 2216 to move, thereby driving the mounting bracket 1 and the second bending joint 2202 to push the surrounding objects to move, making it convenient for the dexterous hand to pick up the objects. In addition, when a dexterous hand is working on two assembly lines, the magnetic coupling 2217 can also be controlled to operate, so that the power generated by the stepper motor 2219 when it is running is transmitted to the magnetic coupling 2217, thereby driving the dexterous hand to flip 180 degrees.
[0046] Example 3: Please refer to Figure 1 , Figure 7-Figure 12 The present invention provides a technical solution: a dexterous hand for grasping irregular objects. The present invention makes corresponding improvements to the technical problems mentioned in the background technology. The adsorption mechanism 3 is arranged on the right side of the mounting bracket 1. The adsorption mechanism 3 is used in conjunction with the adjustment mechanism 2. The adsorption mechanism 3 can enhance the stability of the device when picking up irregular objects.
[0047] As a further limitation of the adsorption mechanism 3 of the present invention, the adsorption mechanism 3 includes a rectangular box 301, the left side of the rectangular box 301 is fixedly connected to the right side of the mounting bracket 1, an air pump 308 is arranged inside the rectangular box 301, the output end of the air pump 308 is fixedly connected to the output pipe 307, the input end of the air pump 308 is fixedly connected to the input pipe 309, the inner wall of the rectangular box 301 is fixedly connected to the partition plate 311, the outer surface of the input pipe 309 is fixedly connected to the inner wall of the partition plate 311, the inner wall of the partition plate 311 is fixedly connected to the telescopic pipe 325, and the input pipe The right end of 309 contacts the left end of the telescopic tube 325. The inner wall of the rectangular box 301 is rotatably connected with a long shaft 322. The outer surface of the long shaft 322 is fixedly connected with a limiting cylinder 321. The outer surface of the limiting cylinder 321 contacts the outer surface of the telescopic tube 325. The inner wall of the rectangular box 301 is fixedly connected with three third return springs 320. Each third return spring 320 is fixedly connected with a rectangular plate 323 at one end close to the telescopic tube 325. The outer surface of each rectangular plate 323 is slidably connected to the inside of the rectangular box 301. Each rectangular plate 323 is close to the telescopic tube 325. One side of the tube 325 is fixedly connected to two mounting plates 324, the inner walls of each of the two mounting plates 324 are rotatably connected to a rotating shaft 327, the outer surface of each rotating shaft 327 is fixedly connected to a rotating cylinder 326, the outer surface of each rotating cylinder 326 is in contact with the outer surface of the telescopic tube 325, and the end of the telescopic tube 325 away from the air pump 308 is fixedly connected to the exhaust pipe 302, the left end of the exhaust pipe 302 is fixedly connected to the right side of the top first curved joint 2101, and when the exhaust pipe 302 is exhausting air, the top first curved joint 2101 is pulled out of the way. 01 is sucked out, and the outside air enters into the first bending joint 2101 through the air inlet opened on the left side of the top first bending joint 2101. When an irregular object blocks the air inlet, the object can be adsorbed, and the adsorption mechanism 3 can provide suction to the object to make it more stable. By providing a rotation adjustment unit 21, a bending adjustment unit 22 and an adsorption mechanism 3, the problem of being unable to adjust the posture of the dexterous hand when in use, thereby being unable to pick up irregular objects, can be avoided.
[0048] See also Fig.11 The inner wall of the rectangular box 301 is fixedly connected to a support frame 310, the inner wall of the support frame 310 is fixedly connected to a controller 328, the upper surface of the support frame 310 is fixedly connected to a fixing seat 317, the inner wall of the fixing seat 317 is fixedly connected to the outer surface of the air pump 308, and by providing the support frame 310, the controller 328 and the fixing seat 317, the air pump 308 can be fixed by using the fixing seat 317, and the controller 328 can use wires to transmit electrical signals to control the operation of the equipment.
[0049] See also Fig.10Two sliding grooves 314 are provided on the right side of the support frame 310, and a sliding block 316 is slidably connected inside each sliding groove 314. The side of the two sliding blocks 316 close to each other is fixedly connected to the dust removal frame 313. The interior of the output pipe 307 is connected to the interior of the dust removal frame 313. It should be understood here that the output pipe 307 does not contact the dust removal frame 313. The gas in the output pipe 307 enters the interior of the dust removal frame 313 through the hole opened on the surface of the dust removal frame 313. The sliding block 316 slides inside the sliding groove 314, so that the dust removal frame 313 can be limited and it is convenient to disassemble it and process the dust filtered inside it. In addition, the existence of the dust removal frame 313 can use the air extracted by the air pump 308 to blow away the heat generated when the controller 328 is running, thereby achieving the purpose of heat dissipation.
[0050] See also Fig.10 Two card slots 312 are provided on the right side of the support frame 310, and a card block 315 is clamped inside each card slot 312. The right ends of the two card blocks 315 are fixedly connected to the baffle 306. By providing the card slots 312 and the card blocks 315, and utilizing the clamping relationship between the card blocks 315 and the card slots 312, the baffle 306 can be installed on one side of the support frame 310.
[0051] See also Figure 8 The right side of the rectangular box 301 is fixedly connected to a limiting plate 303, and a long plate 304 is clamped inside the limiting plate 303. The inner wall of the rectangular box 301 is rotatably connected to a short shaft 305, and the right end of the short shaft 305 is fixedly connected to the left side of the long plate 304. By providing the short shaft 305 and the long plate 304, the short shaft 305 can be used to drive the long plate 304 to rotate, and the limiting relationship between the long plate 304 and the limiting plate 303 can act on the baffle 306.
[0052] See also Fig.11 Two groups of limit blocks 319 are fixedly connected to the back of the rectangular box 301. The inner wall of each group of limit blocks 319 is rotatably connected to a limit shaft 318. The outer surface of each limit shaft 318 is in contact with the outer surface of the exhaust pipe 302. By setting the limit blocks 319 and the limit shaft 318, the limit shaft 318 can be used to limit the exhaust pipe 302 and the subsequent telescopic tube 325 connected to one end of the exhaust pipe 302 to avoid bending of the telescopic tube 325.
[0053] The specific implementation of this embodiment is as follows: first, when the device is needed, the annular flange 2213 and the bolts 2214 are used to connect the device to the robot arm, and the device can be put into operation after the power is turned on. When it is necessary to pick up irregular objects, the reduction motor 2103 can be controlled to operate first. When the reduction motor 2103 is working, it will drive the transmission shaft 2104 fixed at its output end to rotate, and when the transmission shaft 2104 rotates, it will drive the transmission block 2102 fixed on the outer surface and the rectangular shell 2107 to rotate, thereby adjusting the overall orientation of the thumb, and then the three first linear electric cylinders 2108 can be controlled to operate. When the bottom first linear electric cylinder 2108 is operating, it will pull the fixed end of its telescopic end. The first traction wire 2114 moves downward, and since the other end of the first traction wire 2114 is fixed to the outer surface of the first reset shaft 2113, and the outer surface of the first traction wire 2114 contacts the outer surface of the first reset shaft 2113, the first traction wire 2114 will drive the first reset shaft 2113 to rotate during the downward pulling process, and during the rotation of the first reset shaft 2113, the first reset wire 2112 fixed on its outer surface will also be wound around the first reset shaft 2113, thereby pulling the first reset spring 2110 to extend, thereby driving the first bending joint 2101 fixed on the outer surface of the first reset shaft 2113 to adjust the angle. It should be understood here that only the lowermost first straight When the linear electric cylinder 2108 is running, it will only drive the first bending joint 2101 at the bottom to adjust the angle. The two first bending joints 2101 at the top will move and bend along with the first bending joint 2101 at the bottom. Therefore, if you want to control the two first bending joints 2101 at the top to adjust the angle under the premise of bending the first bending joint 2101 at the bottom, you only need to control the operation of the two first linear electric cylinders 2108 at the top, so that the angle adjustment of the three first bending joints 2101 can be achieved. When the angle adjustment is completed and the first bending joint 2101 needs to be reset, you only need to control the first linear electric cylinder 2108 to reset. After the first linear electric cylinder 2108 stops running, the first traction The steel wire 2114 will lose its pulling force, and at this time, the first reset shaft 2113 is still subjected to the pulling force of the first reset spring 2110, so the first reset shaft 2113 will return to its original position under the action of the pulling force of the first reset spring 2110, and when the curvature of the other four fingers needs to be adjusted, the second linear electric cylinder 2206 corresponding to the corresponding fingers can be controlled to operate in the same way, and the second linear electric cylinder 2206 will also drive the second traction steel wire 2209 fixed at its output end to move downward during operation, and the second reset shaft 2208 can be driven to rotate under the action of the second traction steel wire 2209, so that the curvature of the second bending joint 2202 can be adjusted, so that the second bending joint 2202 cooperates with the first bending joint 2101,When the first curved joint 2101 is performing the picking operation, the air pump 308 can be controlled to operate. When the air pump 308 is operating, the air in the telescopic tube 325 and the air extraction tube 302 can be extracted through the input tube 309, so that the outside air will flow into the inside of the air extraction tube 302 under the action of the air pressure. When the first curved joint 2101 at the top is performing the picking operation, the air inlet of the first curved joint 2101 will be covered. At this time, it should be understood that the side of the first curved joint 2101 at the top that contacts the object is made of rubber material. Therefore, when picking up the object, the rubber material The material will be closely attached to the surface of the object, ensuring that the air inlet will be completely covered by the object. Therefore, under the action of the suction force generated by the air pump 308 when it is running, the device can be taken more stably, and under the action of the telescopic tube 325, every time the first bending joint 2101 is adjusted in angle under the action of the reduction motor 2103, the telescopic tube 325 will be pulled to move, and the telescopic tube 325 will push the rotating cylinder 326 to move vertically under the action of the pulling force, thereby unfolding the folded part of the telescopic tube 325. When the first bending joint 2101 is reset, the rotating cylinder 326 will push the telescopic tube 325 to fold up again under the action of the third reset spring 320.
[0054] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A dexterous hand for grasping irregular objects, comprising a mounting bracket (1), characterized in that: An adjustment mechanism (2) is provided on the outer side of the mounting bracket (1), and an adsorption mechanism (3) is provided on the outer side of the mounting bracket (1); The adjustment mechanism (2) comprises a rotation adjustment unit (21), wherein the rotation adjustment unit (21) is arranged on the outside of the mounting bracket (1), and the rotation adjustment unit (21) facilitates rotation adjustment of the position of the thumb; The adjustment mechanism (2) further comprises a bending adjustment unit (22), wherein the bending adjustment unit (22) is arranged above the mounting bracket (1), and the bending adjustment unit (22) is used in conjunction with the rotation adjustment unit (21), and the bending adjustment unit (22) facilitates adjustment of the bending state of the four fingers; The adsorption mechanism (3) is arranged on the right side of the mounting bracket (1); the adsorption mechanism (3) is used in conjunction with the adjustment mechanism (2); and the adsorption mechanism (3) can enhance the stability of the device when picking up irregular objects.
2. The dexterous hand for grasping irregular objects according to claim 1, characterized in that: The rotation adjustment unit (21) comprises a fixing plate (2105), wherein the fixing plate (2105) is fixedly connected to the inner wall of the mounting bracket (1), the inner wall of the fixing plate (2105) is fixedly connected to a reduction motor (2103), the output end of the reduction motor (2103) is fixedly connected to a transmission shaft (2104), the outer surface of the transmission shaft (2104) is rotatably connected to the inner wall of the mounting bracket (1), the outer surface of the transmission shaft (2104) is fixedly connected to a transmission block (2102), and the outer surface of the transmission block (2102) is slidably connected to the mounting bracket (1). Inside the bracket (1), the outer surface of the transmission block (2102) is fixedly connected to a rectangular shell (2107), and three first bending joints (2101), three first linear electric cylinders (2108) and three first fixed frames (2106) are respectively arranged above the rectangular shell (2107), and the inner wall of each first bending joint (2101) is fixedly connected to a first support frame (2109), and the telescopic end of each first linear electric cylinder (2108) passes through the interior of the first fixed frame (2106), wherein two of the first linear electric cylinders (2108) The bottom surface of the first linear electric cylinder (2108) is fixedly connected to the upper surfaces of two of the first support frames (2109), the bottom surface of another of the first linear electric cylinders (2108) is fixedly connected to the inner bottom wall of the rectangular shell (2107), the inner wall of each of the first bending joints (2101) is fixedly connected to a first reset shaft (2113), the outer surface of each of the first reset shafts (2113) is rotatably connected to the inner wall of the first fixed frame (2106), the inner wall of each of the first fixed frames (2106) is fixedly connected to a first reset spring (2110), and each of the first reset springs (21110) is fixedly connected to the inner wall of the first fixed frame (2106). 0) is fixedly connected to one end close to the first reset shaft (2113) with a first connecting plate (2111), the back side of each of the first connecting plates (2111) is fixedly connected to a first reset steel wire (2112), the outer surface of each of the first reset steel wires (2112) is fixedly connected to the outer surface of the first reset shaft (2113), the outer surface of each of the first reset shafts (2113) is fixedly connected to a first traction steel wire (2114), and the bottom end of each of the first traction steel wires (2114) is fixedly connected to the telescopic end of the first linear electric cylinder (2108).
3. The dexterous hand for grasping irregular objects according to claim 1, characterized in that: The bending adjustment unit (22) comprises six groups of second bending joints (2202), six groups of second fixing frames (2201) and six groups of second linear electric cylinders (2206), each group of the second bending joints (2201), each group of the second fixing frames (2203) and each group of the second linear electric cylinders (2206) are two in number, the inner wall of each second bending joint (2202) is fixedly connected to the second support frame (2203), the inner wall of each second bending joint (2202) is fixedly connected to the second reset shaft (2208), the outer surface of each second reset shaft (2208) is rotatably connected to the inner wall of the second fixing frame (2201), and each second fixing frame (2201) is fixedly connected to the second support frame (2203). The inner wall of each second return spring (2204) is fixedly connected to a second return spring (2204), the left end of each second return spring (2204) is fixedly connected to a second connecting plate (2205), the left side of each second connecting plate (2205) is fixedly connected to a second return steel wire (2207), the left end of each second return steel wire (2207) is fixedly connected to the outer surface of the second return shaft (2208), the outer surface of each second return shaft (2208) is fixedly connected to a second traction steel wire (2209), the bottom end of each second traction steel wire (2209) is fixedly connected to the telescopic end of the second linear electric cylinder (2206), wherein the bottom surfaces of four groups of the second linear electric cylinders (2206) are fixedly connected A support plate (2210) is fixedly connected to the upper surface of four groups of second support frames (2203) and the bottom surface of the other two groups of second linear electric cylinders (2206); the outer surface of the support plate (2210) is fixedly connected to the inner wall of the mounting bracket (1); the inner wall of the mounting bracket (1) is fixedly connected to a filter screen (2211); the telescopic end of each group of the second linear electric cylinder (2206) penetrates into the interior of the second fixed frame (2201); a connecting ring (2212) is arranged below the mounting bracket (1); a moving block (2216) is slidably connected to the interior of the connecting ring (2212); a rotating shaft (2215) is rotatably connected to the inner wall of the moving block (2216); the rotating shaft (2215) is rotatably connected to the inner wall of the rotating shaft (2215); The top of the connecting ring (2215) is fixedly connected to the bottom surface of the mounting bracket (1); a stepper motor (2219) is arranged inside the connecting ring (2212); a gear (2223) is fixedly connected to the outer surface of the output end of the stepper motor (2219); a magnetic coupling (2217) is fixedly connected to the outer surface of the output end of the stepper motor (2219) and the outer surface of the rotating shaft (2215); a fixed block (2220) is fixedly connected to the outer surface of the stepper motor (2219); two circular shafts (2218) are fixedly connected to the inner wall of the fixed block (2220) and the inner wall of the moving block (2216); four rollers (2221) are rotatably connected to the inner wall of the fixed block (2220);Two bearing plates (2224) are fixedly connected to the inner wall of the connecting ring (2212), and the upper surface of each bearing plate (2224) is in contact with the outer surface of the roller (2221). A tooth plate (2222) is fixedly connected to the left side of one of the bearing plates (2224), and the teeth of the tooth plate (2222) are meshed with the teeth of the gear (2223).
4. The dexterous hand for grasping irregular objects according to claim 3, characterized in that: An annular flange (2213) is fixedly connected to the outer surface of the connecting ring (2212), and two bolts (2214) are threadedly connected to the inner wall of the annular flange (2213).
5. The dexterous hand for grasping irregular objects according to claim 2, characterized in that: The adsorption mechanism (3) comprises a rectangular box (301), the left side surface of the rectangular box (301) is fixedly connected to the right side surface of the mounting bracket (1), an air pump (308) is arranged inside the rectangular box (301), the output end of the air pump (308) is fixedly connected to an output pipe (307), the input end of the air pump (308) is fixedly connected to an input pipe (309), the inner wall of the rectangular box (301) is fixedly connected to a partition plate (311), and the input pipe ( The outer surface of the rectangular box (309) is fixedly connected to the inner wall of the partition plate (311), the inner wall of the partition plate (311) is fixedly connected with a telescopic tube (325), the right end of the delivery tube (309) is in contact with the left end of the telescopic tube (325), the inner wall of the rectangular box (301) is rotatably connected with a long shaft (322), the outer surface of the long shaft (322) is fixedly connected with a limiting cylinder (321), and the outer surface of the limiting cylinder (321) is in contact with the outer surface of the telescopic tube (325). The inner wall of the rectangular box (301) is fixedly connected with three third return springs (320), one end of each of the third return springs (320) close to the telescopic tube (325) is fixedly connected with a rectangular plate (323), the outer surface of each of the rectangular plates (323) is slidably connected to the inside of the rectangular box (301), and one side of each of the rectangular plates (323) close to the telescopic tube (325) is fixedly connected with two mounting plates (324), and each of the two mounting plates (324) is fixedly connected to the inner wall of the rectangular box (301), and each of the three third return springs (320) is fixedly connected with a rectangular plate (323) at one end of the telescopic tube (325) close to the telescopic tube (325). The inner wall of the plate (324) is rotatably connected to a rotating shaft (327), and the outer surface of each rotating shaft (327) is fixedly connected to a rotating cylinder (326), and the outer surface of each rotating cylinder (326) is in contact with the outer surface of the telescopic tube (325), and the end of the telescopic tube (325) away from the air pump (308) is fixedly connected to an exhaust pipe (302), and the left end of the exhaust pipe (302) is fixedly connected to the right side surface of the top first bending joint (2101).
6. The dexterous hand for grasping irregular objects according to claim 5, characterized in that: The inner wall of the rectangular box (301) is fixedly connected to a support frame (310), the inner wall of the support frame (310) is fixedly connected to a controller (328), the upper surface of the support frame (310) is fixedly connected to a fixing seat (317), and the inner wall of the fixing seat (317) is fixedly connected to the outer surface of the air pump (308).
7. The dexterous hand for grasping irregular objects according to claim 6, characterized in that: The right side of the support frame (310) is provided with two sliding grooves (314), each of the sliding grooves (314) is slidably connected to a sliding block (316), and the side surfaces of the two sliding blocks (316) close to each other are fixedly connected to a dust removal frame (313), and the interior of the output pipe (307) is connected to the interior of the dust removal frame (313).
8. The dexterous hand for grasping irregular objects according to claim 6, characterized in that: Two card slots (312) are provided on the right side of the support frame (310), a card block (315) is carded inside each of the card slots (312), and the right ends of the two card blocks (315) are fixedly connected to a baffle (306).
9. The dexterous hand for grasping irregular objects according to claim 5, characterized in that: The right side of the rectangular box (301) is fixedly connected to a limiting plate (303), the interior of the limiting plate (303) is clamped with a long plate (304), the inner wall of the rectangular box (301) is rotatably connected to a short shaft (305), and the right end of the short shaft (305) is fixedly connected to the left side of the long plate (304).
10. The dexterous hand for grasping irregular objects according to claim 5, characterized in that: Two groups of limit blocks (319) are fixedly connected to the back of the rectangular box (301), the inner wall of each group of limit blocks (319) is rotatably connected to a limit shaft (318), and the outer surface of each limit shaft (318) is in contact with the outer surface of the exhaust pipe (302).